Do you mean you wish to include your own dynamic model into the collision detection?
In the GenericApp this model torque is not connected, which means that you can write to this input from the outside (via a client program for instance). It depends on how you implement this, if this meet your needs because of the additional latency that may be added by the communication from the App to the client and back. But this approach may work just fine.
In the RobotApp this input is connected to the dynamics model of the robot arm. If this is configured correctly it will calculate the expected torque based on the current robot pose and desired motion (velocity and acceleration). This is then connected to the collision detection, which triggers based on the deviation between the calculated torque and the actual torque.
Also note that collision detection is not a Safety Function. If you require this to be a certifiable Safety Function, this will have to be implemented in Safety Hardware (like a safety PLC). We are currently investigating the feasibility of this with a provider of Safety PLCs that support Safe Arythmics Functions.